OPTIMIZATION OF THE ACTIVE DISTURBANCE REJECTION CONTROL OF A FOUR-ROTOR AIRCRAFT

Haitao Jiang, Qing Chang, and Xiaojuan Xie

Keywords

ADRC , conjugate gradient, parameter setting , four rotor aircraft

Abstract

A conjugate gradient algorithm (CGA) is proposed to address the problem of tuning multiple parameters of an active disturbance rejection controller (ADRC). The CGA combines the minimum variance and control rate of the system to iterate the ADRC’ s parameters until the iteration conditions are satisfied. The structure of the CGA is simple and the parameters of the ADRC do not require manual t uning. The algorithm improves the parameter tuning efficiency of the ADRC and the control accuracy of the system In order to verify the reliability of the proposed algorithm, a four-rotor aircraft is used as an experimental prototype. The simulations show that the CGA is able to quickly tune the parameters of the ADRC and the ADRC optimized by the CGA improves the stability, robustness, and anti-interference of the four rotor aircraft.

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